WO2019037484A1

WO2019037484A1 - Laser scanning device calibration method, apparatus, device, and storage medium

Info

Publication number: WO2019037484A1
Application number: PCT/CN2018/087251
Authority: WO
Inventors: 曾超
Original assignee: 腾讯科技（深圳）有限公司
Priority date: 2017-08-23
Filing date: 2018-05-17
Publication date: 2019-02-28
Also published as: CN109425365B; US20190235062A1; JP2020531831A; JP6906691B2; MA50182A; CN109425365A; KR20190129978A; EP3686557A4; EP3686557A1; KR102296723B1

Abstract

A laser scanning device (101) calibration method, comprising: acquiring, on the basis of at least two frames of point cloud data obtained by scanning a target area by the laser scanning apparatus (101), the first coordinates of a ground feature element in each frame of point cloud data, the first coordinates being coordinates of the ground feature element in a laser coordinate system; determining, on the basis of map data of the target area of a vehicle, the second coordinates of the ground feature element in each frame of point cloud data in a vehicle coordinate system; determining, for each frame of point cloud data, an offset posture of each frame point cloud data according to the first coordinates and second coordinates of the ground feature element; and calculating the value of a laser external parameter of the laser scanning device (101) according to the offset postures of the at least two frames of point cloud data, so as to calibrate the laser scanning device (101).

Description

Method, device, device and storage medium for laser scanning device calibration

This application claims priority to Chinese Patent Application No. 201710731253.X, entitled "Method, Apparatus, Equipment and Storage Medium for Laser Scanning Equipment Calibration", filed on August 23, 2017, all of which is entitled The content is incorporated herein by reference.

Technical field

The present application relates to the field of driverless technology, and in particular, to a method, device, device and storage medium for calibration of a laser scanning device.

Background technique

With the development of driverless technology, a navigation system in an unmanned vehicle can provide a navigation path for the driverless vehicle to follow the navigation path. At the same time, the unmanned vehicle can also scan the surrounding environment in real time through the laser scanning device to obtain a three-dimensional image of the surrounding environment, so that the unmanned vehicle can travel in conjunction with the surrounding environment and the navigation path to avoid obstacles in the surrounding environment, further Ensure the safety of driving. However, there is a certain positional offset and angular offset between the laser coordinate system in which the three-dimensional image is located and the vehicle coordinate system in which the navigation path is located. Therefore, the laser scanning device needs to be calibrated before using the laser scanning device.

In the related art, the laser scanning device is calibrated by generally setting up a marker in the calibration field, and setting a plurality of calibration points with obvious positions in the marker to establish a calibration field including a plurality of calibration points. And the vehicle coordinate system with the unmanned vehicle as the coordinate origin is established in the calibration field, and the coordinates of each calibration point in the vehicle coordinate system are manually measured by the traditional surveying and mapping method. Then, a laser coordinate system with the laser scanning device as the origin is established, and the calibration field is scanned by the laser scanning device to obtain a frame of point cloud data, the frame point cloud data includes a set of surface points of the marker in the calibration field, and a surface point The coordinates of each point in the set in the laser coordinate system. Based on the frame point cloud data, a plurality of punctuation points in the set of surface points are manually selected, and coordinates of each of the calibration points in the laser coordinate system are obtained. According to the coordinates of each calibration point in the vehicle coordinate system and the coordinates of the calibration point in the laser coordinate system, the SVD (Singular Value Decomposition) algorithm is used to calculate the deviation of the laser coordinate system from the vehicle coordinate system. The shifting posture includes a numerical value of an offset position of the laser coordinate system with respect to the vehicle coordinate system and a numerical value of the yaw angle, and the offset posture is directly used as a value of a laser external parameter of the laser scanning device. The yaw angle is the angle between the x-axis of the laser coordinate system (directly in front of the laser scanning device) and the x-axis of the vehicle coordinate system (directly in front of the driverless vehicle). The laser scanning device is calibrated by the value of the external laser parameter.

In the process of implementing the embodiments of the present application, the inventors have found that the related art has at least the following problems:

The above method requires manual establishment of a calibration field, and subsequent methods of manual measurement or identification are required to determine the coordinates of each calibration point in the vehicle coordinate system and the coordinates in the laser coordinate system, thereby causing the above-mentioned laser scanning device calibration. The method is inefficient.

Summary of the invention

In accordance with various embodiments of the present application, a method, apparatus, apparatus, and storage medium for laser scanning device calibration are provided.

A method of calibrating a laser scanning device, the method comprising:

Acquiring at least two frame point cloud data obtained by scanning the target area by the laser scanning device, acquiring first coordinates of the feature elements in the point cloud data of each frame, wherein the first coordinates are that the feature elements are in the laser coordinate system coordinate of;

Determining, according to the map data of the target area, a second coordinate of the feature element in the frame coordinate system in the vehicle coordinate system;

Determining, according to the first coordinate and the second coordinate of the feature element, the offset pose of the point cloud data of each frame; and

And calculating, according to the offset pose of the at least two frames of point cloud data, a value of a laser external parameter of the laser scanning device to calibrate the laser scanning device.

A device for calibrating a laser scanning device, the device comprising:

An acquiring module, configured to acquire, according to at least two frame point cloud data obtained by scanning a target area by the laser scanning device, a first coordinate of the feature element in the point cloud data of each frame, where the first coordinate is the feature element The coordinates in the laser coordinate system;

a first determining module, configured to determine, according to the map data of the target area, a second coordinate of the feature element in the frame coordinate system in the vehicle coordinate system;

a second determining module, configured to determine an offset pose of the point cloud data of each frame according to the first coordinate and the second coordinate of the feature element for the frame cloud data of each frame; and

And a calculating module, configured to calculate a value of the laser external parameter of the laser scanning device according to the offset pose of the at least two frames of point cloud data to calibrate the laser scanning device.

A computer apparatus comprising a memory and a processor, the memory storing computer readable instructions, the computer readable instructions being executed by the processor such that the processor performs the following steps:

A non-transitory computer readable storage medium storing computer readable instructions, when executed by one or more processors, causes the one or more processors to perform the following steps:

Details of one or more embodiments of the present application are set forth in the accompanying drawings and description below. Other features, objects, and advantages of the invention will be apparent from the description and appended claims.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application. Other drawings may also be obtained from those of ordinary skill in the art in light of the inventive work.

1 is a schematic diagram of a driving system provided by an embodiment of the present application;

2 is a flow chart of a method for calibration of a laser scanning device according to an embodiment of the present application;

3 is a schematic diagram of a preset scanning route provided by an embodiment of the present application;

4 is a schematic diagram of a first distance provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a second distance provided by an embodiment of the present application; FIG.

6 is a schematic structural diagram of an apparatus for calibrating a laser scanning device according to an embodiment of the present application;

FIG. 7 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the drawings in the embodiments of the present application. It is obvious that the described embodiments are a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope are the scope of the present application.

The embodiment of the present application discloses a method of calibrating a laser scanning device. Wherein, the laser scanning device can be a laser scanning device installed in any driver that needs to navigate. For example, the laser scanning device may be installed in a driver such as an unmanned vehicle, a drone, or a robot that requires navigation, which is not specifically limited in the embodiment of the present application. The embodiment of the present application is described by taking only a laser scanning device installed in a vehicle as an example.

1 is a schematic diagram of a driving system provided by an embodiment of the present application. The driving system includes: a laser scanning device 101 and a navigation system 102.

Map data is pre-stored in the navigation system 102, and the map data includes at least position coordinates of each feature element in the target area in the map coordinate system. The navigation system 102 includes a GPS (Global Positioning System) and an IMU (Inertial Measurement Unit). The navigation system 102 can receive satellite signals via GPS and locate the current position coordinates of the vehicle in the map coordinate system in real time. The navigation system 102 can determine a navigation path of the vehicle in the map data according to the current position coordinate of the vehicle and the destination position coordinate of the vehicle, and map the corresponding path coordinate in the map coordinate system to the geocentric coordinate system and the station. The cardiac coordinate system is converted into a vehicle coordinate system to cause the vehicle to travel in accordance with a navigation path in the vehicle coordinate system. Moreover, the accelerometer and the gyroscope are integrated in the IMU. During the running of the vehicle, the navigation system 102 can also acquire the heading angle and the traveling speed of the vehicle in the vehicle coordinate system in real time through the IMU, thereby monitoring the running state of the vehicle in real time.

The driving system further includes a laser scanning device 101. During the running of the vehicle, the vehicle can also scan the surrounding environment in real time through the laser scanning device 101 to obtain multi-frame point cloud data of the surrounding environment, and each frame point cloud data includes each of the surrounding environments. Position coordinates of obstacles in the laser coordinate system; obstacles include, but are not limited to, fixed feature elements in the surrounding environment and other vehicles, pedestrians, etc. moving; and based on the laser external parameters of the laser scanning device 101, in the surrounding environment The position coordinates of each obstacle in the laser coordinate system are converted into the vehicle coordinate system; the vehicle can travel in conjunction with the navigation path in the vehicle coordinate system and each obstacle in the surrounding environment, thereby further ensuring the safety of the vehicle running.

Below, we will introduce the nouns that appear in the above driving system and some coordinate systems and parameters that will be involved:

The map data may be map data of a to-be-traveled area that is set and stored in advance according to user needs. Further, the map data may be high-precision map data. The high-precision map data is a next-generation navigation map with centimeter-level positioning accuracy and including road auxiliary facilities information (such as traffic lights, electronic eyes, traffic signs, etc.) and dynamic traffic information, and the navigation data can be more accurately navigated through the high-precision map data. .

Wherein, the vehicle may be an unmanned vehicle that acquires a navigation path through the navigation system 102 and acquires multi-frame point cloud data of the surrounding environment by the laser scanning device 101, so that the unmanned vehicle can combine the vehicle coordinates The navigation path in the system and each obstacle in the surrounding environment further ensure that the unmanned vehicle can travel safely.

The map coordinate system is generally WGS84 (World Geodetic System for 1984, 1984 World Geodetic Coordinate System), and the position coordinates of each feature element is the latitude and longitude coordinates and elevation coordinates of the feature element in the WGS84 coordinate system.

The vehicle coordinate system uses the vehicle as the coordinate origin, with the front of the vehicle running in the positive direction of the x-axis, the direction perpendicular to the left and the direction perpendicular to the x-axis being the positive direction of the y-axis, and the direction of the vertical upward being the positive z-axis. direction.

The laser coordinate system uses the laser scanning device as the coordinate origin, with the positive direction of the laser scanning device being the positive x-axis direction, the direction horizontally to the left and perpendicular to the x-axis being directly in front of the y-axis, and the direction in the vertical direction is The coordinate system of the positive direction of the z-axis.

The geocentric coordinate system uses the Earth's centroid as the coordinate origin o, the direction of the intersection of the first meridional plane and the equatorial plane to the east is the positive x-axis direction, and the direction of the north of the earth's rotation axis is the positive direction of the z-axis. The xoz plane is vertical and the direction determined by the right-hand rule is the positive direction of the y-axis, and the spatial rectangular coordinate system is established.

The center coordinate system of the station is the origin of the coordinate system, the direction of the long semi-axial direction of the earth ellipsoid (east direction) is the positive direction of the x-axis, and the direction of the semi-axis of the earth ellipsoid is north (north direction). The space is a rectangular coordinate system established by the positive direction of the y-axis and the normal direction of the ellipsoid of the earth (the sky direction) is the positive direction of the z-axis.

The laser external parameters of the laser scanning device are the offset position and the yaw angle between the laser coordinate system and the vehicle coordinate system. Wherein, the offset position is an offset distance of the laser coordinate system relative to the vehicle coordinate system in the x-axis and the y-axis direction, and the yaw angle is an angle between the x-axis of the laser coordinate system and the x-axis of the vehicle coordinate system. That is, the angle between the front of the laser scanning device and the front of the vehicle. In addition, the present application also relates to the heading angle of the vehicle. The heading angle refers to an angle between the front side and the true north direction of the vehicle.

2 is a flow chart of a method for calibration of a laser scanning device according to an embodiment of the present application. The execution body of the method is a terminal, and the terminal may be an in-vehicle terminal or any terminal having a data processing function. Referring to FIG. 2, the method includes:

201. The terminal scans the target area based on the preset scan route by using the laser scanning device to obtain at least two frames of point cloud data, where the target area is any area including the feature element.

The laser scanning device is installed in the vehicle and can be disposed on the front side or the side of the vehicle for scanning the environment around the vehicle. The preset scan route may be a travel route designed to scan the target area.

In this embodiment, the step may be: the terminal acquires a preset scan route, and uses the preset scan route as a travel route of the vehicle to control the vehicle to travel along the preset scan route. During the driving of the vehicle along the preset scanning route, the terminal controls the laser scanning device to scan the target area once every preset time period to obtain a frame of point cloud data of the target area. During the entire driving process, the terminal controls the laser scanning device to perform at least two scans to obtain point cloud data of at least two frames of the target area. The per-frame point cloud data includes, but is not limited to, a set of surface points of each obstacle in the target area, and position coordinates of each surface point in the laser coordinate system. The preset duration may be set and changed according to the needs of the user, which is not specifically limited in this embodiment of the present application. For example, the preset duration may be 100 milliseconds, 5 seconds, or the like.

The feature of the feature includes, but is not limited to, a fixed road tooth, a road guardrail, a rod-shaped feature or a traffic sign in the target area. Since the feature element is a fixed-position object in the target area, the ground element in the target area is used as a basic element of the punctuation, and the laser scanning can be finally performed by determining different coordinates of the feature element in each coordinate system. The device is calibrated.

In the embodiment of the present application, the target area may be any area including a feature element. To avoid environmental noise interference, the terminal may select an open area with fewer pedestrians as the target area. In the multi-frame point cloud data obtained by scanning the target area by the laser scanning device, unnecessary noise data of other vehicles and the like are less, thereby reducing interference of environmental noise, and improving subsequent extraction of feature elements based on point cloud data. The accuracy of the first coordinate.

In this embodiment, the preset scan route may be a scan route determined based on the target area. Generally, the determined preset scan route is a circular route around the target area. The inventor has realized that, during actual operation, the traveling direction of the vehicle may be any of the directions of east, south, west, north, etc. during the running of the vehicle. Therefore, the terminal can control the vehicle to travel along the loop road, so that point cloud data of the target area in each traveling direction can be obtained. Moreover, since the vehicle travels on the road side while observing the traffic rules, the point cloud data collected by the terminal is the point cloud data of the left side or the right side. Therefore, the terminal can control the vehicle to travel back and forth along the ring road, that is, control the vehicle to travel clockwise along the ring road, and then drive counterclockwise along the loop road, so that the vehicle is traveling on the left side of the road and biased. Scanning can be performed while driving on the right side, which improves the accuracy of determining the value of the external laser parameter according to the offset posture of the cloud data of each frame.

As shown in FIG. 3, the target area is an A area, and the preset scanning route may be a circular route around the A area, that is, the terminal controls the vehicle to travel clockwise along the ring road from the starting point B, and returns to the starting point B. Then, take a circle from the starting point B counterclockwise along the circular road.

202. For each frame point cloud data, the terminal extracts a first coordinate of the feature element in the laser coordinate system.

In the embodiment of the present application, since each frame point cloud data includes a set of surface points of each obstacle in the target area and position coordinates of each surface point in the laser coordinate system, the terminal needs to extract from each frame point cloud data. The first coordinate of the feature element, the first coordinate being the coordinate of the feature element in the laser coordinate system.

For each frame of point cloud data, the terminal extracts a point set corresponding to the feature of the feature from the point cloud data by using a preset extraction algorithm. For each feature element, a set of position coordinates of the point set corresponding to the feature element in the laser coordinate system is used as the first coordinate of the feature element; and then the first feature of the feature element included in each point cloud data is obtained. coordinate. The preset extraction algorithm may be set and changed according to the user's needs, which is not specifically limited in this embodiment of the present application. For example, the preset extraction algorithm may be: a segmentation based extraction algorithm or a detection based extraction algorithm.

It should be noted that the foregoing steps 201-202 are actually at least two frame point cloud data obtained by the terminal scanning the target area based on the laser scanning device, and obtaining the first coordinate of the feature element in the point cloud data of each frame. the way. However, the foregoing specific implementation manner may be replaced by other implementation manners. The foregoing specific implementation manner actually obtains point cloud data through real-time scanning, and in an actual scenario, may also obtain the historical data obtained by pre-scanning. At least two frames of point cloud data of the target area are implemented, which is not specifically limited in this embodiment of the present application.

203. The terminal acquires map data of the target area from the navigation system, where the map data includes latitude and longitude coordinates and elevation coordinates of the feature element in a map coordinate system.

In the embodiment of the present application, the navigation data of the vehicle stores the map data of the target area, and the terminal may acquire the map data of the target area from the navigation system according to the area information of the target area. Certainly, the navigation system may further store map data of an arbitrary area other than the target area, where the map data is actually high-precision map data of the target area, and therefore, the map data of the target area includes at least the feature elements in the target area. The position coordinates in the map coordinate system. The area information may be an area identifier or a latitude and longitude range of the target area. For example, the zone ID can be the name of the zone.

In the embodiment of the present application, the terminal needs to obtain the difference between the vehicle coordinate system and the laser coordinate system of the target area. Therefore, after the terminal acquires the first coordinate of the feature element in the target area, the terminal needs to acquire the feature of the feature. The position coordinates in the map coordinate system, so that the terminal subsequently determines the second coordinate of the feature element in the vehicle coordinates.

Since the terminal can locate the current position coordinates of the vehicle in the map coordinate system through the navigation system, for each frame point cloud data, when the terminal acquires the point cloud data of each frame, the terminal needs to obtain the frame point through the map data in the navigation system. The position coordinates of the feature element included in the cloud coordinate system in the map coordinate system, and the position coordinate is converted into the second coordinate in the vehicle coordinate system.

In a possible implementation manner, the area information may be an area identifier, and the terminal may store the correspondence between the area identifier and the map data. Correspondingly, the step of the terminal acquiring the map data of the target area from the navigation system may be: the terminal acquires the target. The area identifier of the area is obtained according to the area identifier of the target area, and the map data corresponding to the target area is obtained from the correspondence between the area identifier and the map data.

In a possible implementation manner, the area information may be a latitude and longitude range, and the terminal stores the correspondence between the latitude and longitude range and the map data. Accordingly, the step of the terminal acquiring the map data of the target area from the navigation system may be: the terminal acquires the target area. The latitude and longitude range, according to the latitude and longitude range of the target area, obtains map data corresponding to the target area from the correspondence between the latitude and longitude range and the map data.

204. The terminal determines, according to the map data of the target area, the second coordinate of the feature element in the vehicle coordinate system.

Since the vehicle acquires point cloud data for each frame during the running of the vehicle, the vehicle coordinate system with the vehicle as the origin moves accordingly, in order to determine the second coordinate of the corresponding feature element in the vehicle coordinate system of each frame point cloud data. For each frame point cloud data, the terminal acquires the frame point cloud data, and obtains the latitude and longitude coordinates of the feature element in the map coordinate system from the map data according to the feature elements included in the frame point cloud data. And elevation coordinates. The terminal determines the second coordinate of the feature element in the vehicle coordinate system according to the latitude and longitude coordinates and the elevation coordinate of the feature element in the map coordinate system.

Therefore, the process of determining, by the terminal, the second coordinate of the feature element in the vehicle coordinate according to the latitude and longitude coordinates and the elevation coordinate of the feature element in the map coordinate system may be: the terminal first maps the feature element in map coordinates The latitude and longitude coordinates and elevation coordinates in the system are converted into position coordinates in the geocentric coordinate system with the origin of the Earth's centroid as the origin, and then the position coordinates of the feature element in the geocentric coordinate system are converted into positions in the center coordinate system. coordinate. The terminal acquires the heading angle of the vehicle through the IMU in the navigation system, and the terminal converts the position coordinates of the feature element in the station center coordinate system into the second coordinate in the vehicle coordinate system according to the heading angle.

In the embodiment of the present application, the coordinates of the center coordinate system and the vehicle coordinate system are the same, except that the positive directions of the x and y axes are different, and the positive direction of the x-axis of the vehicle coordinate system and the positive direction of the y-axis of the central coordinate system are The angle is the heading angle of the vehicle. Therefore, the terminal may first convert the feature element in the map coordinate system to the center coordinate system via the geocentric coordinate system, and finally obtain the second coordinate of the feature element according to the heading angle of the vehicle.

In the embodiment of the present application, since there is a systematic deviation in the map data acquired by the navigation system, the system deviation is the position coordinate of the feature element in the map coordinate system in the map data, and the actual feature element is in the map coordinate system. The displacement deviation between the position coordinates in . Therefore, in order to improve the accuracy of determining the second coordinate, the terminal also needs to consider the influence of the system deviation on the second coordinate. Specifically, the process of converting, by the terminal, the position coordinate of the feature element in the center coordinate system into the second coordinate in the vehicle coordinate system according to the heading angle may be: the initial system deviation of the terminal acquiring the map data, according to the initial System deviation, adjust the position coordinates in the center coordinate system. The terminal converts the adjusted position coordinates into the second coordinates in the vehicle coordinate system according to the heading angle.

The process of adjusting the position coordinates may be expressed as follows: the initial system deviation may be represented by (x′ ₀ , y′ ₀ ), that is, the position coordinates of the terminal element in the center coordinate system. , offset by x' ₀ unit distance in the positive direction of the x-axis, and offset by y' ₀ unit distance in the positive direction of the y-axis.

It should be noted that, in the above steps 203-204, the terminal actually determines a specific implementation manner of the second coordinate of the feature element in the vehicle coordinate system in the point cloud data of each frame based on the map data of the target area. However, the foregoing specific implementation manner may be replaced by other implementation manners. The specific implementation manner is actually obtaining the second coordinate by acquiring the map data of the target area from the navigation system, and the terminal may also pre-follow the navigation during the actual operation. The map data of the target area is obtained in the system, and the map data of the target area is stored in the terminal, and the second coordinate is determined based on the map data of the target area stored in the terminal, which is not specifically limited in this embodiment of the present application.

In the embodiment of the present application, the offset posture of the point cloud data of each frame is an offset posture between the laser coordinate system and the vehicle coordinate system when the terminal acquires the point cloud data of each frame, because the vehicle moves with the vehicle. The laser coordinate system with the laser scanner as the coordinate origin and the vehicle coordinate system with the vehicle as the coordinate origin also move, resulting in the offset posture of the point cloud data of each frame may be the same or different. Therefore, the terminal also needs to determine the offset pose of each frame point cloud data by the following steps 205-207.

205. The terminal acquires an initial offset pose between the vehicle coordinate system and the laser coordinate system.

In the embodiment of the present application, the offset pose includes a value of an offset position between the vehicle coordinate system and the laser coordinate system and a value of a yaw angle. The offset position between the vehicle coordinate system and the laser coordinate system may be represented by a position coordinate of a coordinate origin of the laser coordinate system in the vehicle coordinate system, and the yaw angle may be the x-axis of the laser coordinate system and the vehicle coordinate system. The angle between the x-axes is indicated.

In the embodiment of the present application, the initial offset pose of each frame point cloud data is determined by step 205, and then the offset pose of each frame point cloud data is determined through steps 206-207. Wherein, the initial offset pose includes a value of an initial offset position and a value of an initial yaw angle.

In this step, the terminal may pre-acquire and store the initial offset pose between the vehicle coordinate system and the laser coordinate system by using the measurement, and use the initial offset pose as the initial offset of the point cloud data of each frame. posture. Specifically, the terminal can measure the coordinates of the laser scanning device in the vehicle coordinate system and the angle between the x-axis of the laser coordinate system and the x-axis of the vehicle coordinate system by using a measuring tool such as a tape measure, and take the measured coordinates as The value of the initial offset position, using the measured angle as the value of the initial yaw angle. 206. For each frame cloud data, the terminal determines, according to the initial offset pose and the second coordinate of the feature element, a third coordinate of the feature element, where the third coordinate is the feature element in the laser The coordinates in the coordinate system.

The step may be: for each frame cloud data, the terminal offsets the second coordinate of the feature element according to the value of the initial offset position in the initial offset posture of the frame point cloud data, and the terminal The second coordinate after the offset position is angularly offset according to the value of the initial yaw angle in the initial offset pose of the frame point cloud data. The terminal uses the position coordinate after the offset position and the angle offset as the third coordinate of the feature element.

Wherein, the value of the initial offset position can be represented by (dx", dy"), and the initial yaw angle can be represented by dyaw", that is, the terminal offsets the second coordinate of the feature element along the positive direction of the x-axis. Shift dx" unit distances, offset dy" unit distances in the positive direction of the y-axis, and rotate the offset second coordinates counterclockwise by dyaw" unit angles.

207. The terminal determines, according to the first coordinate and the third coordinate of the feature element, an offset pose of the point cloud data of each frame.

In the embodiment of the present application, since each point cloud data corresponds to an offset pose, the terminal may first determine an offset pose corresponding to each frame point cloud data by using step 207, so that the subsequent frame cloud data may be subsequently Corresponding offset pose determines an offset pose that reflects the general law.

This step can be implemented by the following steps 2071-2072.

2071. The terminal calculates, according to the first coordinate and the third coordinate of the feature element, a first distance between each first point element and an adjacent second point element, and each of the first point elements and The second distance between adjacent linear features.

In the embodiment of the present application, in each frame point cloud data, each feature element is composed of a point element and a line element, wherein the first point element is a point in the feature element corresponding to the first coordinate. The second element is a point element among the feature elements corresponding to the third coordinate, and the line element is a linear element among the feature elements corresponding to the third coordinate.

For each frame of point cloud data, the distance between the first point element and the adjacent element can be calculated by any of the following methods.

The first method, by calculating a first point of the feature element in the point cloud data of each frame, and a first distance between the second point element, as a subsequent matching of the first coordinate and the third coordinate Reference distance.

In this step, the terminal calculates the position according to the position coordinates of each first point element in the laser coordinate system and the position coordinates of the second point element adjacent to the first point element in the laser coordinate system. The first distance between the point feature and the second point feature.

It should be noted that the second point element adjacent to the first point element is a second point shape centering on the first point element and closest to the first point element among the plurality of second point elements Elements.

As shown in FIG. 4, the point C is the first point element, the point D is the second point element adjacent to the point C, and the terminal can calculate the first distance between the point C and the point D.

The second method is to calculate a second distance between the first point element in the feature element of each frame point cloud data and the line element as a reference distance for matching the first coordinate and the third coordinate .

The second distance between the first point element and the adjacent line element is a normal distance of the first point element to the line element. Therefore, in this step, the terminal calculates the position according to the position coordinates of each first point element in the laser coordinate system and the position coordinates of the line element adjacent to the first point element in the laser coordinate system. The normal distance between the point element and the line element, and the normal distance is taken as the second distance.

It is to be noted that the linear element adjacent to the first point element is a line element having the first point element as a center and the closest to the first point element among the plurality of line elements.

As shown in FIG. 5, the point C is the first point element, the line L is a line element adjacent to the point C, and the terminal can calculate the normal distance between the point C and the line L, thereby obtaining the second distance.

In this step, the terminal determines a plurality of first distances by using position coordinates of the plurality of first point elements and position coordinates of the plurality of second point elements, and the position coordinates of the plurality of first point elements and the plurality of The position coordinates of the linear features determine a plurality of second distances.

2072. The terminal determines, according to the first distance and the second distance, an offset pose of the point cloud data of each frame.

In the embodiment of the present application, the terminal may determine the offset pose of the point cloud data of each frame by iteratively matching the first coordinate and the third coordinate of the feature element.

The process includes the following steps a-g:

Step a: For each frame of point cloud data, the terminal selects, according to the first distance and the second distance, a first point element having a first distance smaller than a first preset threshold and a second point element corresponding to the first point element And an element, and selecting a first point element having a second distance smaller than the first predetermined threshold and a line element corresponding to the first point element.

The second point element corresponding to the first point element is a second point element adjacent to the first point element when the terminal calculates the first distance. The linear element corresponding to the first point element is a linear element adjacent to the first point element when the terminal calculates the second distance.

Step b: the terminal determines, according to the selected first point element and the second point element, and the first point element and the line element, based on a mean square error expression between the first coordinate and the third coordinate The offset matrix with the smallest value of the mean square error will make the offset matrix with the smallest value of the mean square error as the intermediate offset matrix between the first coordinate and the third coordinate.

Step c: The terminal updates an initial offset matrix of the frame point cloud data according to the intermediate offset matrix between the first coordinate and the third coordinate, and multiplies the updated initial offset matrix by the second coordinate to obtain a first Four coordinates, thus completing the first iteration match.

The step of updating the initial offset matrix of the frame point cloud data according to the intermediate offset matrix between the first coordinate and the third coordinate may be: the terminal intermediate the first coordinate and the third coordinate The offset matrix is multiplied by the initial offset matrix of the frame point cloud data to obtain an updated initial offset matrix.

It should be noted that the above-mentioned step c is actually a process of converting the second coordinate in the vehicle coordinate system into the laser coordinate system again, and the implementation manner is the same as that in step 206, and details are not described herein again.

Step d: the terminal calculates a third distance between each first point element and the adjacent second point element according to the first coordinate and the fourth coordinate of the feature element, and each first point element And the fourth distance between adjacent linear features.

Wherein, the step d is actually a process of recalculating the first distance and the second distance according to the first coordinate and the fourth coordinate converted into the laser coordinate system again, and the implementation manner is consistent with the step 2071, and the method is no longer one by one. Narration.

Step e: Determine the initial offset matrix after the update again by the implementation in steps a-c, thereby completing the second iteration matching.

Step f: Perform multiple iterations matching by the implementation in the above steps a-e. In a plurality of iterations, when the minimum mean square error corresponding to the intermediate offset matrix is smaller than the second preset threshold, the initial offset matrix updated according to the intermediate offset matrix is obtained, and the obtained initial offset matrix is taken as The offset matrix of the point cloud data. Alternatively, when the number of iterations matches the third preset threshold, the updated initial offset matrix in the last iterative matching process is obtained, and the obtained initial offset matrix is used as the offset matrix of the frame point cloud data.

Step g: The terminal determines an offset pose of the frame point cloud data according to the offset matrix of the frame point cloud data.

The step b may be specifically: the terminal according to the selected first point element and the second point element corresponding to the first point element, and the first point element and the line corresponding to the first point element The element, by the following formula 1, the mean square error expression, makes the offset matrix with the smallest value of the mean square error as the intermediate offset matrix between the first coordinate and the third coordinate:

Formula one:

Where X is the first coordinate of the feature element, Y is the third coordinate of the feature element, E(X, Y) is the mean square error between the first coordinate and the third coordinate of the feature element, and x _i is The first distance or the second distance is not greater than the preset threshold, the i-th first point element of the plurality of first point elements, and y _{i is} the second point element corresponding to the i-th first point element or The linear element, m is the number of first point features whose first distance or second distance is not greater than a preset threshold, and M is an intermediate offset matrix between the first coordinate and the third coordinate.

In this embodiment of the present application, the intermediate offset matrix between the first coordinate and the third coordinate may be represented by M.

The intermediate offset matrix includes a numerical value (dx', dy') of the offset position between the first coordinate and the third coordinate and a numerical value dyaw' of the yaw angle.

The first preset threshold, the second preset threshold, and the third preset threshold may be set and changed according to the user's needs, which is not specifically limited in this embodiment of the present application. For example, the first preset threshold may be 1 meter, 0.5 meter, or the like. The second preset threshold may be 0.1, 0.3, or the like. The third preset threshold may be 20, 100, or the like.

It should be noted that, in the foregoing steps 205-207, the terminal specifically determines, according to the first coordinate and the second coordinate of the feature element, the offset posture of the point cloud data of each frame. Method to realize. However, the above specific implementation manner may also be replaced by other implementation manners. The specific implementation manner is actually by converting the second coordinate in the vehicle coordinate system into the laser coordinate system, according to the first coordinate and the converted third coordinate. Determine the offset pose of each frame point cloud data. In actual operation, the terminal can also convert the first coordinate in the laser coordinate system into the vehicle coordinate system to obtain the converted fourth coordinate, according to the second coordinate and after the conversion. The fourth coordinate of the method determines the offset pose of the point cloud data of each frame, which is not specifically limited in this embodiment of the present application.

208. The terminal establishes an observation equation between the offset pose of the at least two frames of point cloud data and the offset position, the yaw angle, and the system deviation. For each frame cloud data, the terminal acquires the point cloud of each frame. The heading angle of the vehicle corresponding to the data.

In the embodiment of the present application, the laser external parameter of the laser scanning device includes an offset position and a yaw angle between the vehicle coordinate system and the laser coordinate system. In steps 203-204, due to system deviation in the map data, The second coordinate of the feature element is deviated from the actual coordinate of the feature element in the vehicle coordinate system, and when the offset pose of the point cloud data is determined for each frame, the influence of the system deviation on the second coordinate is considered. Therefore, in this step, when the terminal establishes the observation equation, it is also necessary to consider the influence of the system deviation.

In this step, the terminal establishes an observation equation according to the offset pose of the at least two frames of point cloud data, the offset position, the yaw angle, and the system deviation:

Wherein, the system deviation is (x ₀ , y ₀ ), the offset position is (dx, dy), the yaw angle is dyaw, and (dx′ _i , dy′ _i ) is the ith frame of the at least two frames of point cloud data. The value of the offset position of the point cloud data, dyaw' _i is the value of the yaw angle of the _i-th point point cloud data in the at least two frames of point cloud data, and yaw _i is the i-th frame point in the at least two frames of point cloud data The heading angle corresponding to the cloud data, where k is the total number of frames of point cloud data.

It should be noted that in the laser coordinate system, the system deviation can be converted to the projection in the x-axis direction and the projection in the y-axis direction. Since the system deviation is an error in the map data, the actual operation is performed. The coordinate system is converted into the vehicle coordinate system. The center coordinate system and the vehicle coordinate system all use the vehicle as the coordinate origin, and the difference lies in the positive direction of the x-axis and the y-axis, the positive direction of the y-axis of the center-center coordinate system and the vehicle coordinate system. The angle between the positive directions of the x-axis is equal to the heading angle of the vehicle.

Therefore, for each frame of point cloud data, the terminal needs to obtain the heading angle of the vehicle corresponding to the point cloud data of the frame. The process may be: when the terminal acquires the point cloud data of each frame, the terminal obtains the IMU in the navigation system. The heading angle of the vehicle corresponding to the frame point cloud data.

209. The terminal calculates a value of the offset position and a value of the yaw angle in the observation equation according to the heading angle and an offset posture of the point cloud data of each frame.

In this step, the terminal may substitute the offset pose of the at least two frames of point cloud data into the observation equation, thereby calculating the offset in the observation equation according to the offset pose of the at least two frames of point cloud data. The value of the position, the value of the yaw angle, and the value of the system deviation.

Among them, although theoretically, based on the offset pose of at least two frames of point cloud data, the value of the offset position in the observation equation, the value of the yaw angle, and the value of the system deviation can be determined. In order to reduce the influence of the random noise, the value of the relatively robust external laser parameter is obtained. In the embodiment of the present application, the terminal may acquire the offset pose of the n-frame point cloud data (n is a positive integer greater than 2), and the The heading angle of the vehicle corresponding to each point cloud data in the offset pose of the n-frame point cloud data, respectively, the offset pose of each frame of cloud data, and the corresponding heading angle are substituted into the observation equation, using least squares method Calculating the value of the offset position in the observation equation, the value of the yaw angle, and the value of the system deviation. Due to the offset pose of the n-frame point cloud data, the possible existence of the point cloud data per frame is reduced. The interference of random noise reduces the error, which in turn makes the value of the determined external laser parameters more accurate.

It should be noted that, in the foregoing steps 208-209, the terminal actually calculates the value of the laser external parameter of the laser scanning device according to the offset posture of the at least two frames of point cloud data, so as to calibrate the specific implementation manner of the laser scanning device. . However, the above specific implementation manner may also be replaced by other implementation manners. The specific implementation manner described above actually determines the value of the external laser parameter by establishing an observation equation between the offset pose and the offset position, the yaw angle, and the system deviation. In actual operation, the terminal may also pre-establish and store the observation equation, or pre-write and store the same program instruction as the observation equation, and the terminal directly obtains the observation equation to determine the value of the external laser parameter; or directly The program instruction is obtained, and the program instruction is executed to determine the value of the laser external parameter.

After the terminal determines the value of the laser external parameter, the laser scanning device in the vehicle is calibrated by the value of the external laser parameter, and the navigation system is calibrated by the determined value of the system deviation, so that the vehicle is combined and calibrated. The latter laser scanning device provides point cloud data and map data provided by the calibrated navigation system to improve driving safety.

In the embodiment of the present application, the terminal may acquire, according to at least two frame point cloud data obtained by scanning the target area by the laser scanning device, the first coordinate of the feature element in the point cloud data of each frame, where the first coordinate is the feature The coordinates of the element in the laser coordinate system; and the terminal directly determines the second coordinate of the feature element in the vehicle coordinate system in each point cloud data based on the map data of the target area of the vehicle; The first coordinate and the second coordinate perform subsequent processes, omitting the process of manually establishing the calibration field and the manual measurement, improving the efficiency of determining the first coordinate and the second coordinate, thereby improving the efficiency of calibration of the laser scanning device. And, for each frame point cloud data, the terminal determines an offset pose of the point cloud data of each frame according to the first coordinate and the second coordinate of the feature element; and subsequently continues to be based on the offset of the at least two frames of point cloud data. In the shifting posture, the value of the laser external parameter of the laser scanning device is calculated to calibrate the laser scanning device in the vehicle. Since the terminal calculates the value of the laser external parameter of the laser scanning device according to the multi-frame point cloud data, the interference of the random noise in the cloud data of each frame is reduced, thereby reducing the error, thereby improving the accuracy of determining the external parameters of the laser. .

FIG. 6 is a schematic structural diagram of an apparatus for calibrating a laser scanning device according to an embodiment of the present application. Referring to FIG. 6, the apparatus includes: an obtaining module 601, a first determining module 602, a second determining module 603, and a calculating module 604.

The acquiring module 601 is configured to acquire, according to at least two frame point cloud data obtained by scanning the target area by the laser scanning device, a first coordinate of the feature element in the point cloud data of each frame, where the first coordinate is the feature element The coordinates in the laser coordinate system;

The first determining module 602 is configured to determine, according to map data of the target area of the vehicle, a second coordinate of the feature element in the point coordinate data of the frame in the vehicle coordinate system;

The second determining module 603 is configured to determine, according to the first coordinate and the second coordinate of the feature element, the offset pose of each point cloud data for the frame cloud data of each frame;

The calculating module 604 is configured to calculate a value of the laser external parameter of the laser scanning device according to the offset pose of the at least two frames of point cloud data to calibrate the laser scanning device.

Optionally, the obtaining module 601 includes:

a scanning unit, configured to scan the target area based on a preset scan route by using a laser scanning device, to obtain the at least two frames of point cloud data, where the target area is any area including the feature element;

And an extracting unit, configured to extract, for each frame of point cloud data, a first coordinate of the feature element in the laser coordinate system.

Optionally, the first determining module 602 includes:

a first acquiring unit, configured to acquire map data of the target area from a navigation system of the vehicle, where the map data includes latitude and longitude coordinates and elevation coordinates of the feature element in a map coordinate system;

The first determining unit is configured to determine, according to the map data of the target area, the second coordinate of the feature element in the vehicle coordinate system for the frame cloud data of each frame.

Optionally, the second determining module 603 includes:

a second acquiring unit, configured to acquire an initial offset posture between the vehicle coordinate system and the laser coordinate system;

a second determining unit, configured to determine, according to the initial offset pose and the second coordinate of the feature element, the third coordinate of the feature element, where the third coordinate is the feature The coordinates of the feature in the laser coordinate system;

And a third determining unit, configured to determine an offset pose of the point cloud data of each frame according to the first coordinate and the third coordinate of the feature element.

Optionally, the third determining unit includes:

a calculating subunit, configured to calculate a first distance between each first point element and an adjacent second point element according to the first coordinate and the third coordinate of the feature element, and each first point a second distance between the feature element and the adjacent linear element, wherein the first point element is a point element among the feature elements corresponding to the first coordinate, and the second point element is corresponding to the third coordinate a point element in the feature element, wherein the line element is a line element among the feature elements corresponding to the third coordinate;

Determining a subunit, configured to determine an offset pose of the point cloud data per frame according to the first distance and the second distance.

Optionally, the laser external parameter of the laser scanning device includes an offset position and a yaw angle between the vehicle coordinate system and the laser coordinate system, and the calculating module 604 includes:

Establishing a unit, configured to establish an observation equation between the offset pose of the at least two frames of point cloud data and the offset position, the yaw angle, and the system deviation, where the system deviation is a navigation system of the vehicle and the map data Deviation between

a third acquiring unit, configured to acquire a heading angle of the vehicle corresponding to the point cloud data of each frame for the point cloud data of each frame;

And a calculating unit, configured to calculate a value of the offset position and a value of the yaw angle in the observation equation according to the heading angle and an offset posture of the point cloud data of each frame.

All of the above optional technical solutions may be combined to form an optional embodiment of the present disclosure, and will not be further described herein.

It should be noted that the device for calibrating the laser scanning device provided by the above embodiment is exemplified by the division of each functional module in the laser scanning device calibration. In practical applications, the functions may be assigned differently according to requirements. The function module is completed, that is, the internal structure of the terminal is divided into different functional modules to complete all or part of the functions described above. In addition, the device for calibrating the laser scanning device provided by the above embodiment is the same as the method for calibrating the laser scanning device. For the specific implementation process, refer to the method embodiment, and details are not described herein again.

FIG. 7 is a schematic structural diagram of a computer device 700 according to an embodiment of the present application. Referring to FIG. 7, the computer device 700 includes a processor and a memory, and may further include a communication interface and a communication bus, and may further include an input and output interface and a display device, wherein the processor, the memory, the input/output interface, the display device, and the communication interface pass The communication bus completes communication with each other. Wherein, the memory comprises a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and can also store computer readable instructions that, when executed by the processor, cause the processor to implement a method of laser scanning device calibration. The internal memory can also store computer readable instructions that, when executed by the processor, cause the processor to perform a method of laser scanning device calibration.

A communication bus is a circuit that connects the elements described and implements transmission between these elements. For example, the processor receives commands from other elements over the communication bus, decrypts the received commands, and performs calculations or data processing in accordance with the decrypted commands. The memory may include program modules such as a kernel, middleware, an application programming interface (API), and an application. The program module can be composed of software, firmware or hardware, or at least two of them. The input and output interfaces forward commands or data entered by the user through input and output devices (eg, sensors, keyboards, touch screens). The display device displays various information to the user. The communication interface connects the computer device 700 with other network devices, user devices, networks. For example, the communication interface can be connected to the network by wired or wireless to connect to other external network devices or user devices. The wireless communication may include at least one of the following: Wireless Fidelity (WiFi), Bluetooth (BT), Near Field Communication (NFC), and Global Positioning System (GPS). And cellular communication (for example, Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), Code Division Multiple Access (CDMA) ), Wideband CDMA (WCDMA), Universal Mobile Telecommunication System (UMTS), Wireless Broadband (WiBro) and Global System for Mobile communication (GSM) The wired communication may include at least one of the following: a Universal Serial Bus (USB), a High Definition Multimedia Interface (HDMI), and an asynchronous standard interface (Recommended Standard 232, RS-232). , and ordinary old-fashioned telephone business (Plain Old T Elephone Service, POTS). The network can be a telecommunication network and a communication network. The communication network can be a computer network, the Internet, an Internet of Things, a telephone network. The computer device 700 can be connected to the network through a communication interface, and the computer device 700 communicates with other network devices. The protocol can be supported by at least one of an application, an Application Programming Interface (API), a middleware, a kernel, and a communication interface.

In an exemplary embodiment, there is also provided a computer readable storage medium storing a computer program, such as a memory storing computer readable instructions that, when executed by a processor, implement the laser of the above embodiments Scan the method of calibration of the device. For example, the computer readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), or a Compact Disc Read-Only Memory (CD-ROM). , tapes, floppy disks, and optical data storage devices.

A person skilled in the art may understand that all or part of the steps of implementing the above embodiments may be completed by hardware, or may be instructed by a program to execute related hardware, and the program may be stored in a computer readable storage medium. The storage medium mentioned may be a read only memory, a magnetic disk or an optical disk or the like.

The above is only the preferred embodiment of the present application, and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection of the present application. Within the scope.

Claims

A method for calibrating a laser scanning device is applied to a computer device, the method comprising:

Acquiring at least two frame point cloud data obtained by scanning the target area by the laser scanning device, acquiring first coordinates of the feature elements in the point cloud data of each frame, wherein the first coordinates are that the feature elements are in the laser coordinate system coordinate of;

Determining, according to the map data of the target area, a second coordinate of the feature element in the frame coordinate system in the vehicle coordinate system;

Determining, according to the first coordinate and the second coordinate of the feature element, the offset pose of the point cloud data of each frame; and

And calculating, according to the offset pose of the at least two frames of point cloud data, a value of a laser external parameter of the laser scanning device to calibrate the laser scanning device.
The method according to claim 1, wherein the first coordinates of the feature elements in the point cloud data of each frame are obtained based on the at least two frames of point cloud data obtained by scanning the target area by the laser scanning device:

And scanning, by the laser scanning device, the target area according to a preset scan route to obtain the at least two frames of point cloud data, where the target area is any area including the feature element;

For each frame point cloud data, the first coordinate of the feature element in the laser coordinate system is extracted.
The method according to claim 1, wherein the determining, according to the map data of the target area, the second coordinates of the feature element in the vehicle coordinate system in each frame point cloud data comprises:

Obtaining map data of the target area from a navigation system, the map data including latitude and longitude coordinates and elevation coordinates of the feature element in a map coordinate system; and

For each frame point cloud data, determining a second coordinate of the feature element in the vehicle coordinate system according to the map data of the target area.
The method according to claim 3, wherein said determining, for each frame of point cloud data, a second coordinate of said feature element in said vehicle coordinate system based on map data of said target area include:

Converting the latitude and longitude coordinates and elevation coordinates of the feature element in the map coordinate system to position coordinates in the geocentric coordinate system;

Converting the position coordinates of the feature element in the geocentric coordinate system to position coordinates in the center coordinate system; and

The position coordinates of the feature element in the center coordinate system are converted into the second coordinates in the vehicle coordinate system according to the heading angle of the acquired vehicle.
The method according to claim 1, wherein the determining, according to the first coordinate and the second coordinate of the feature element, the offset of the point cloud data of each frame for the frame cloud data of each frame Positions include:

Obtaining an initial offset pose between the vehicle coordinate system and the laser coordinate system;

Determining, according to the initial offset pose and the second coordinate of the feature element, the third coordinate of the feature element, wherein the third coordinate is the feature element The coordinates in the laser coordinate system; and

Determining an offset pose of the point cloud data per frame according to the first coordinate and the third coordinate of the feature element.
The method according to claim 5, wherein said determining, for said each point cloud data, said feature of said feature based on said initial offset pose and said second coordinate of said feature element The third coordinates include:

For each frame point cloud data, the second coordinate of the feature element is offset according to the value of the initial offset position in the initial offset bit, according to the initial in the initial offset bit The value of the yaw angle, the angular offset of the second coordinate after the offset position; and

The position coordinate after the offset position and the angle are offset is taken as the third coordinate of the feature element.
The method according to claim 5, wherein the determining the offset pose of the point cloud data per frame according to the first coordinate and the third coordinate of the feature element comprises:

Calculating a first distance between each first point element and an adjacent second point element according to the first coordinate and the third coordinate of the feature element, and each of the first point element and phase a second distance between adjacent linear elements, wherein the first point element is a point element among the feature elements corresponding to the first coordinate, and the second point element is a third point corresponding to the third coordinate a point element in the feature element, wherein the line element is a line element among the feature elements corresponding to the third coordinate; and

Determining an offset pose of the point cloud data per frame according to the first distance and the second distance.
The method of claim 1 wherein said laser external parameters of said laser scanning device comprise an offset position and a yaw angle between said vehicle coordinate system and said laser coordinate system, said Calculating the offset pose of the at least two frames of point cloud data, and calculating the values of the laser external parameters of the laser scanning device include:

Establishing an observation equation between the offset pose of the at least two frames of point cloud data and the offset position, the yaw angle, and a system deviation, wherein the systematic deviation is a systematic error in the map data;

Obtaining, for each frame point cloud data, a heading angle of the vehicle corresponding to the point cloud data of each frame; and

And calculating a value of the offset position and a value of the yaw angle in the observation equation according to the heading angle and an offset pose of the point cloud data of each frame.
A computer device comprising a memory and a processor, the memory storing computer readable instructions, the computer readable instructions being executed by the processor such that the processor performs the following steps:

Acquiring at least two frame point cloud data obtained by scanning the target area by the laser scanning device, acquiring first coordinates of the feature elements in the point cloud data of each frame, wherein the first coordinates are that the feature elements are in the laser coordinate system coordinate of;

Determining, according to the map data of the target area, a second coordinate of the feature element in the frame coordinate system in the vehicle coordinate system;

Determining, according to the first coordinate and the second coordinate of the feature element, the offset pose of the point cloud data of each frame; and

And calculating, according to the offset pose of the at least two frames of point cloud data, a value of a laser external parameter of the laser scanning device to calibrate the laser scanning device.
A computer apparatus according to claim 9, wherein said computer readable instructions are executed by said processor such that said processor performs at least said scanning of said target area by said laser scanning device When two points of point cloud data are obtained, and the first coordinate of the feature of the feature in each point cloud data is obtained, the following steps are performed:

And scanning, by the laser scanning device, the target area according to a preset scan route to obtain the at least two frames of point cloud data, where the target area is any area including the feature element;

For each frame point cloud data, the first coordinate of the feature element in the laser coordinate system is extracted.
A computer apparatus according to claim 9, wherein said computer readable instructions are executed by said processor such that said processor is operative to perform said map data based on said target area When the step of the second feature of the feature element in the vehicle coordinate system in the frame point cloud data is performed, the following steps are performed:

Obtaining map data of the target area from a navigation system, the map data including latitude and longitude coordinates and elevation coordinates of the feature element in a map coordinate system; and

For each frame point cloud data, determining a second coordinate of the feature element in the vehicle coordinate system according to the map data of the target area.
The computer apparatus according to claim 9, wherein said computer readable instructions are executed by said processor such that said processor is performing said cloud data for said each frame, according to said ground When the first coordinate and the second coordinate of the object element are used to determine the offset pose of the point cloud data of each frame, the following steps are performed:

Obtaining an initial offset pose between the vehicle coordinate system and the laser coordinate system;

Determining, according to the initial offset pose and the second coordinate of the feature element, the third coordinate of the feature element, wherein the third coordinate is the feature element The coordinates in the laser coordinate system; and

Determining an offset pose of the point cloud data per frame according to the first coordinate and the third coordinate of the feature element.
The computer apparatus according to claim 12, wherein said computer readable instructions are executed by said processor such that said processor is performing said first coordinates and said third based on said feature elements Coordinates, when determining the offset pose of each frame point cloud data, perform the following steps:

Calculating a first distance between each first point element and an adjacent second point element according to the first coordinate and the third coordinate of the feature element, and each of the first point element and phase a second distance between adjacent linear elements, wherein the first point element is a point element among the feature elements corresponding to the first coordinate, and the second point element is a third point corresponding to the third coordinate a point element in the feature element, wherein the line element is a line element among the feature elements corresponding to the third coordinate; and

Determining an offset pose of the point cloud data per frame according to the first distance and the second distance.
A computer apparatus according to claim 11, wherein said computer readable instructions are executed by said processor such that said processor is performing said laser coordinate system with said laser coordinate system comprising said vehicle coordinate system And an offset position and a yaw angle between the laser coordinate system, wherein the step of calculating a value of a laser external parameter of the laser scanning device according to an offset posture of the at least two frames of point cloud data Perform the following steps:

Establishing an observation equation between the offset pose of the at least two frames of point cloud data and the offset position, the yaw angle, and a system deviation, wherein the systematic deviation is a systematic error in the map data;

Obtaining, for each frame point cloud data, a heading angle of the vehicle corresponding to the point cloud data of each frame; and

And calculating a value of the offset position and a value of the yaw angle in the observation equation according to the heading angle and an offset pose of the point cloud data of each frame.
A non-transitory computer readable storage medium storing computer readable instructions, when executed by one or more processors, causes the one or more processors to perform the following steps:

Acquiring at least two frame point cloud data obtained by scanning the target area by the laser scanning device, acquiring first coordinates of the feature elements in the point cloud data of each frame, wherein the first coordinates are that the feature elements are in the laser coordinate system coordinate of;

Determining, according to the map data of the target area, a second coordinate of the feature element in the frame coordinate system in the vehicle coordinate system;

Determining, according to the first coordinate and the second coordinate of the feature element, the offset pose of the point cloud data of each frame; and

And calculating, according to the offset pose of the at least two frames of point cloud data, a value of a laser external parameter of the laser scanning device to calibrate the laser scanning device.
A computer readable storage medium according to claim 15 wherein said computer readable instructions are executed by said processor such that said processor performs scanning of said target area based on said laser scanning device Obtaining at least two frames of point cloud data, and obtaining the first coordinates of the feature elements in the point cloud data of each frame, performing the following steps:

And scanning, by the laser scanning device, the target area according to a preset scan route to obtain the at least two frames of point cloud data, where the target area is any area including the feature element;

For each frame point cloud data, the first coordinate of the feature element in the laser coordinate system is extracted.
A computer readable storage medium according to claim 15 wherein said computer readable instructions are executed by said processor such that said processor is operative to determine said map data based on said target region When the step of the second feature of the feature element in the point coordinate data of the frame in the vehicle coordinate system is performed, the following steps are performed:

Obtaining map data of the target area from a navigation system, the map data including latitude and longitude coordinates and elevation coordinates of the feature element in a map coordinate system; and

For each frame point cloud data, determining a second coordinate of the feature element in the vehicle coordinate system according to the map data of the target area.
A computer readable storage medium according to claim 15 wherein said computer readable instructions are executed by said processor such that said processor is executing said point cloud data for said frame, When the first coordinate and the second coordinate of the feature element determine the offset pose of the point cloud data of each frame, the following steps are performed:

Obtaining an initial offset pose between the vehicle coordinate system and the laser coordinate system;

Determining, according to the initial offset pose and the second coordinate of the feature element, the third coordinate of the feature element, wherein the third coordinate is the feature element The coordinates in the laser coordinate system; and

Determining an offset pose of the point cloud data per frame according to the first coordinate and the third coordinate of the feature element.
A computer readable storage medium according to claim 18, wherein said computer readable instructions are executed by said processor such that said processor is executing said first coordinate based on said feature element And the third coordinate, when determining the step of the offset pose of the point cloud data of each frame, performing the following steps:

Calculating a first distance between each first point element and an adjacent second point element according to the first coordinate and the third coordinate of the feature element, and each of the first point element and phase a second distance between adjacent linear elements, wherein the first point element is a point element among the feature elements corresponding to the first coordinate, and the second point element is a third point corresponding to the third coordinate a point element in the feature element, wherein the line element is a line element among the feature elements corresponding to the third coordinate; and

Determining an offset pose of the point cloud data per frame according to the first distance and the second distance.
A computer readable storage medium according to claim 15 wherein said computer readable instructions are executed by said processor such that said processor is performing said laser external parameters of said laser scanning device comprising said An offset position and a yaw angle between the vehicle coordinate system and the laser coordinate system, wherein the calculating the value of the laser external parameter of the laser scanning device according to the offset posture of the at least two frames of point cloud data In the steps, perform the following steps:

Establishing an observation equation between the offset pose of the at least two frames of point cloud data and the offset position, the yaw angle, and a system deviation, wherein the systematic deviation is a systematic error in the map data;

Obtaining, for each frame point cloud data, a heading angle of the vehicle corresponding to the point cloud data of each frame; and

And calculating a value of the offset position and a value of the yaw angle in the observation equation according to the heading angle and an offset pose of the point cloud data of each frame.